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HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor
TLDR
In this paper, a new method for comparing frame appearance in a frame-to-model 3D mapping and tracking system using an LDR RGB-D camera which is robust to brightness changes caused by auto exposure is described.Abstract:
We describe a new method for comparing frame appearance in a frame-to-model 3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camera which is robust to brightness changes caused by auto exposure. It is based on a normalised radiance measure which is invariant to exposure changes and not only robustifies the tracking under changing lighting conditions, but also enables the following exposure compensation perform accurately to allow online building of high dynamic range (HDR) maps. The latter facilitates the frame-to-model tracking to minimise drift as well as better capturing light variation within the scene. Results from experiments with synthetic and real data demonstrate that the method provides both improved tracking and maps with far greater dynamic range of luminosity.read more
Citations
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Journal ArticleDOI
State of the Art on 3D Reconstruction with RGB-D Cameras
Michael Zollhöfer,Michael Zollhöfer,Patrick Stotko,Andreas Gorlitz,Christian Theobalt,Matthias Nießner,Reinhard Klein,Andreas Kolb +7 more
TL;DR: This report explains, compare, and critically analyze the common underlying algorithmic concepts that enabled recent developments in RGB‐D scene reconstruction in detail, and shows how algorithms are designed to best exploit the benefits ofRGB‐D data while suppressing their often non‐trivial data distortions.
Journal ArticleDOI
Emptying, refurnishing, and relighting indoor spaces
TL;DR: This paper presents a system that takes an RGBD scan of an indoor scene and produces a scene model of the empty room, including light emitters, materials, and the geometry of the non-cluttered room, using a 3D radiometric calibration process and a global-illumination-aware inverse rendering framework that simultaneously recovers reflectance properties of scene surfaces and lighting properties for several light source types.
Proceedings ArticleDOI
Active exposure control for robust visual odometry in HDR environments
TL;DR: An active exposure control method is proposed to improve the robustness of visual odometry in HDR (high dynamic range) environments by maximizing a robust gradient-based image quality metric and outperforms the built-in auto- exposure function of the camera.
Journal ArticleDOI
Survey of 3D modeling using depth cameras
Hantong Xu,Jiamin Xu,Weiwei Xu +2 more
TL;DR: This survey reviews the latest developments of 3D modeling based on depth cameras, including research works on camera tracking, 3D object and scene reconstruction, and high-quality texture reconstruction.
Proceedings ArticleDOI
Real-Time Augmented Reality with Occlusion Handling Based on RGBD Images
Xiaozhi Guo,Chen Wang,Yue Qi +2 more
TL;DR: A real-time systematic architecture based on RGBD images is generated to operate occlusion handling of augmented reality system and indicates that this method is stable and precise for occlusions handling, and can effectively improve realism in AR system.
References
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Proceedings ArticleDOI
KinectFusion: Real-time dense surface mapping and tracking
Richard Newcombe,Shahram Izadi,Otmar Hilliges,David Molyneaux,David Kim,Andrew J. Davison,Pushmeet Kohi,Jamie Shotton,Steve Hodges,Andrew Fitzgibbon +9 more
TL;DR: A system for accurate real-time mapping of complex and arbitrary indoor scenes in variable lighting conditions, using only a moving low-cost depth camera and commodity graphics hardware, which fuse all of the depth data streamed from a Kinect sensor into a single global implicit surface model of the observed scene in real- time.
Proceedings ArticleDOI
Recovering high dynamic range radiance maps from photographs
Paul Debevec,Jitendra Malik +1 more
TL;DR: This work discusses how this work is applicable in many areas of computer graphics involving digitized photographs, including image-based modeling, image compositing, and image processing, and demonstrates a few applications of having high dynamic range radiance maps.
Journal ArticleDOI
Automatic Panoramic Image Stitching using Invariant Features
Matthew Brown,David G. Lowe +1 more
TL;DR: This work forms stitching as a multi-image matching problem, and uses invariant local features to find matches between all of the images, and is insensitive to the ordering, orientation, scale and illumination of the input images.
Proceedings ArticleDOI
DTAM: Dense tracking and mapping in real-time
TL;DR: It is demonstrated that a dense model permits superior tracking performance under rapid motion compared to a state of the art method using features; and the additional usefulness of the dense model for real-time scene interaction in a physics-enhanced augmented reality application is shown.
Proceedings ArticleDOI
A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM
TL;DR: This work introduces the Imperial College London and National University of Ireland Maynooth (ICL-NUIM) dataset and presents a collection of handheld RGB-D camera sequences within synthetically generated environments to provide a method to benchmark the surface reconstruction accuracy.